Precise force control for contact with flexible object considering environmental dynamics

Hiroki Kurumatani, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

This research focuses on force control taking environmental dynamics into account. Force control technique have been improving along with the control technique of acceleration. In general, the control objective can be achieved when compliance of the motor system is larger than contact environment. Although the high compliant system can contact and adopt many environment, unexpected vibration occurs when the environment behaves like multi-mass resonant system. Such problem is avoidable in the case when the environmental dynamics is known in advance, e.g. manufacturing factory. The factory implements many combined machines and it makes object behave like multi-mass system. The paper focuses on the force control for two-mass system considering such environmental dynamics. Some experiments are conducted and the paper confirms the theoretical validation.

本文言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ172-177
ページ数6
ISBN(電子版)9781509045389
DOI
出版ステータスPublished - 2017 5月 6
イベント2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
継続期間: 2017 2月 132017 2月 15

出版物シリーズ

名前Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
国/地域Australia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学
  • 制御と最適化

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